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farmbot-arduino-firmware
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Homing improvements

pull/140/head
Tim Evers 2020-04-15 16:19:26 +02:00
parent 7d8e9a50e1
commit 3d709f6618
4 changed files with 97 additions and 51 deletions
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4
src/Board.h
View File

@ -1,7 +1,7 @@
#ifndef FARMBOT_BOARD_ID
// Farmbot using RAMPS board
//#define RAMPS_V14
#define RAMPS_V14
//#define FARMDUINO_V10
//#define FARMDUINO_V14
@ -10,7 +10,7 @@
//#define FARMDUINO_V30
// Farmbot Express
#define FARMDUINO_EXP_V20
//#define FARMDUINO_EXP_V20
#else

41
src/F11Handler.cpp
View File

@ -32,6 +32,9 @@ int F11Handler::execute(Command *command)
}
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_X);
int stepsMerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_X);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_X);
int A = 10; // move away coordinates
int execution;
bool emergencyStop;
@ -49,25 +52,36 @@ int F11Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position
Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
bool firstMove = true;
int goodConsecutiveHomings = 0;
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
if (firstMove)
{
firstMove = false;
// Move to home position
Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, false, false, false);
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
}
// Move away from the home position
Movement::getInstance()->moveToCoords(A, Y, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Home again
Movement::getInstance()->moveToCoords(0, Y, Z, 0, 0, 0, true, false, false);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
@ -87,9 +101,18 @@ int F11Handler::execute(Command *command)
Serial.print("\r\n");
// Home position cannot drift more than 5 milimeter otherwise no valid home pos
if (CurrentState::getInstance()->getHomeMissedStepsXscaled() < 5)
if (CurrentState::getInstance()->getHomeMissedStepsXscaled() < (5 + missedStepsMax * stepsMerMM))
{
homingComplete = true;
goodConsecutiveHomings++;
if (goodConsecutiveHomings >= 3)
{
homingComplete = true;
CurrentState::getInstance()->setX(0);
}
}
else
{
goodConsecutiveHomings = 0;
}
}

43
src/F12Handler.cpp
View File

@ -32,6 +32,9 @@ int F12Handler::execute(Command *command)
}
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Y);
int stepsMerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Y);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Y);
int A = 10; // move away coordinates
int execution;
bool emergencyStop;
@ -48,27 +51,38 @@ int F12Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position. s
Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
bool firstMove = true;
int goodConsecutiveHomings = 0;
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
if (firstMove)
{
firstMove = false;
// Move to home position. s
Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, false, false);
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
}
// Move away from the home position
//posBeforeVerify = CurrentState::getInstance()->getY();
Movement::getInstance()->moveToCoords(X, A, Z, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Home again
Movement::getInstance()->moveToCoords(X, 0, Z, 0, 0, 0, false, true, false);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
@ -87,10 +101,19 @@ int F12Handler::execute(Command *command)
Serial.print(CurrentState::getInstance()->getHomeMissedStepsZscaled());
Serial.print("\r\n");
// Compare postition before and after verify homing
if (CurrentState::getInstance()->getHomeMissedStepsYscaled() < 5)
// Compare postition before and after verify homing, accounting for missed steps detecting stall
if (CurrentState::getInstance()->getHomeMissedStepsYscaled() < (5 + missedStepsMax * stepsMerMM))
{
homingComplete = true;
goodConsecutiveHomings++;
if (goodConsecutiveHomings >= 3)
{
homingComplete = true;
CurrentState::getInstance()->setY(0);
}
}
else
{
goodConsecutiveHomings = 0;
}
}

60
src/F13Handler.cpp
View File

@ -34,6 +34,9 @@ int F13Handler::execute(Command *command)
Movement::getInstance()->moveToCoords(0, 0, 0, 0, 0, 0, false, false, true);
int homeIsUp = ParameterList::getInstance()->getValue(MOVEMENT_HOME_UP_Z);
int stepsMerMM = ParameterList::getInstance()->getValue(MOVEMENT_STEP_PER_MM_Z);
int missedStepsMax = ParameterList::getInstance()->getValue(ENCODER_MISSED_STEPS_MAX_Z);
int A = 10; // move away coordinates
int execution;
bool emergencyStop;
@ -51,25 +54,36 @@ int F13Handler::execute(Command *command)
long Y = CurrentState::getInstance()->getY();
long Z = CurrentState::getInstance()->getZ();
// Move to home position.
Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
bool firstMove = true;
int goodConsecutiveHomings = 0;
// After the first home, keep moving away and home back
// until there is no deviation in positions
while (!homingComplete)
{
if (firstMove)
{
firstMove = false;
// Move to home position.
Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, false);
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { homingComplete = true; }
}
// Move away from the home position
Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
// Home again
Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true);
execution = CurrentState::getInstance()->getLastError();
//execution = CurrentState::getInstance()->getLastError();
execution = 0;
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0) { break; }
@ -89,32 +103,18 @@ int F13Handler::execute(Command *command)
Serial.print("\r\n");
// Compare postition before and after verify homing
if (CurrentState::getInstance()->getHomeMissedStepsZscaled() < 5)
if (CurrentState::getInstance()->getHomeMissedStepsZscaled() < (5 + missedStepsMax * stepsMerMM))
{
homingComplete = true;
goodConsecutiveHomings++;
if (goodConsecutiveHomings >= 3)
{
homingComplete = true;
CurrentState::getInstance()->setZ(0);
}
}
}
// Move to home position. Then 3 times move away and move to home again.
for (int stepNr = 0; stepNr < 7; stepNr++)
{
switch (stepNr)
else
{
case 0: break;
case 1: break;
case 2:
case 3: Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false); break;
case 4: Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true); break;
case 5: Movement::getInstance()->moveToCoords(X, Y, A, 0, 0, 0, false, false, false); break;
case 6: Movement::getInstance()->moveToCoords(X, Y, 0, 0, 0, 0, false, false, true); break;
}
execution = CurrentState::getInstance()->getLastError();
emergencyStop = CurrentState::getInstance()->isEmergencyStop();
if (emergencyStop || execution != 0)
{
break;
goodConsecutiveHomings = 0;
}
}